Namespaces | Functions | Variables
testEssentialMatrixFactor.cpp File Reference
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/nonlinear/ExpressionFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/expressionTesting.h>
#include <gtsam/nonlinear/factorTesting.h>
#include <gtsam/sfm/SfmData.h>
#include <gtsam/slam/EssentialMatrixFactor.h>
#include <gtsam/slam/dataset.h>
Include dependency graph for testEssentialMatrixFactor.cpp:

Go to the source code of this file.

Namespaces

 example1
 
 example2
 

Functions

gtsam::Point3 bX (1, 0, 0)
 
gtsam::Point3 bY (0, 1, 0)
 
gtsam::Point3 bZ (0, 0, 1)
 
PinholeCamera< Cal3_S2example1::camera2 (data.cameras[1].pose(), trueK)
 
PinholeCamera< Cal3Bundlerexample2::camera2 (data.cameras[1].pose(), trueK)
 
int main ()
 
Point2 example1::pA (size_t i)
 
Point2 example2::pA (size_t i)
 
Point2 example1::pB (size_t i)
 
Point2 example2::pB (size_t i)
 
 example1::TEST (EssentialMatrixFactor, ExpressionFactor)
 
 example1::TEST (EssentialMatrixFactor, ExpressionFactorRotationOnly)
 
 example2::TEST (EssentialMatrixFactor, extraMinimization)
 
 example1::TEST (EssentialMatrixFactor, factor)
 
 example1::TEST (EssentialMatrixFactor, minimization)
 
 example1::TEST (EssentialMatrixFactor, testData)
 
 example2::TEST (EssentialMatrixFactor2, extraMinimization)
 
 example2::TEST (EssentialMatrixFactor2, extraTest)
 
 example1::TEST (EssentialMatrixFactor2, factor)
 
 example1::TEST (EssentialMatrixFactor2, minimization)
 
 example2::TEST (EssentialMatrixFactor3, extraTest)
 
 example1::TEST (EssentialMatrixFactor3, factor)
 
 example1::TEST (EssentialMatrixFactor3, minimization)
 
 example1::TEST (EssentialMatrixFactor4, evaluateErrorJacobiansCal3Bundler)
 
 example1::TEST (EssentialMatrixFactor4, evaluateErrorJacobiansCal3S2)
 
 example1::TEST (EssentialMatrixFactor4, factor)
 
 example1::TEST (EssentialMatrixFactor4, minimizationWithStrongCal3BundlerPrior)
 
 example1::TEST (EssentialMatrixFactor4, minimizationWithStrongCal3S2Prior)
 
 example1::TEST (EssentialMatrixFactor4, minimizationWithWeakCal3S2Prior)
 
 example1::TEST (EssentialMatrixFactor5, factor)
 
 example1::TEST (EssentialMatrixFactor5, SameKeys)
 
Vector example1::vA (size_t i)
 
Vector example2::vA (size_t i)
 
Vector example1::vB (size_t i)
 
Vector example2::vB (size_t i)
 

Variables

Rot3 example2::aRb = data.cameras[1].pose().rotation()
 
Point3 example2::aTb = data.cameras[1].pose().translation()
 
double example1::baseline = 0.1
 
double example2::baseline = 10
 
EssentialMatrix example1::bodyE = cRb.inverse() * trueE
 
Rot3 example1::c1Rc2 = data.cameras[1].pose().rotation()
 
Point3 example1::c1Tc2 = data.cameras[1].pose().translation()
 
gtsam::Rot3 cRb = gtsam::Rot3(bX, bZ, -bY).inverse()
 
SfmData example1::data = SfmData::FromBalFile(filename)
 
SfmData example2::data = SfmData::FromBalFile(filename)
 
const string example1::filename = findExampleDataFile("18pointExample1.txt")
 
const string example2::filename = findExampleDataFile("5pointExample2.txt")
 
std::shared_ptr< Cal3Bundlerexample2::K = std::make_shared<Cal3Bundler>(trueK)
 
noiseModel::Isotropic::shared_ptr model1
 
noiseModel::Unit::shared_ptr model2 = noiseModel::Unit::Create(2)
 
Unit3 example1::trueDirection (c1Tc2)
 
EssentialMatrix example2::trueE (aRb, Unit3(aTb))
 
EssentialMatrix example1::trueE (trueRotation, trueDirection)
 
Cal3_S2 example1::trueK = Cal3_S2()
 
Cal3Bundler example2::trueK = Cal3Bundler(500, 0, 0)
 
Rot3 example1::trueRotation (c1Rc2)
 

Function Documentation

◆ bX()

gtsam::Point3 bX ( ,
,
 
)

◆ bY()

gtsam::Point3 bY ( ,
,
 
)

◆ bZ()

gtsam::Point3 bZ ( ,
,
 
)

◆ main()

int main ( )

Definition at line 732 of file testEssentialMatrixFactor.cpp.

Variable Documentation

◆ cRb

Definition at line 33 of file testEssentialMatrixFactor.cpp.

◆ model1

Initial value:
=
noiseModel::Isotropic::Sigma(1, 0.01)

Definition at line 26 of file testEssentialMatrixFactor.cpp.

◆ model2

noiseModel::Unit::shared_ptr model2 = noiseModel::Unit::Create(2)

Definition at line 29 of file testEssentialMatrixFactor.cpp.



gtsam
Author(s):
autogenerated on Sun Dec 22 2024 04:18:35